Feature/pipettor lint

.github/actions/lint/Dockerfile

@@ -0,0 +1,16 @@
+FROM ros:humble
+
+# Install ament linting tools
+RUN apt-get update && apt-get install -y \
+    ros-humble-ament-lint \
+    ros-humble-ament-cppcheck \
+    ros-humble-ament-uncrustify \
+    ros-humble-ament-lint-cmake \
+    ros-humble-ament-cpplint \
+    ros-humble-ament-xmllint \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY run.sh /run.sh
+RUN chmod +x /run.sh
+
+ENTRYPOINT ["/run.sh"]

.github/actions/lint/run.sh

@@ -1,4 +1,5 @@
 #!/bin/bash
 set -e
 
-ament_${LINTER} src/
+source /opt/ros/humble/setup.bash
+ament_${LINTER} src/

.github/workflows/docker-build.yaml

@@ -0,0 +1,49 @@
+name: Build and Push Docker Image to GHCR
+on:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./.devcontainer/Dockerfile
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

.github/workflows/ros.yaml

@@ -2,9 +2,9 @@ name: ROS C++ Testing and Linting
 
 on:
   push:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
   pull_request:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
   workflow_dispatch:
 
 jobs:

.github/workflows/ruff.yml

@@ -2,9 +2,9 @@ name: Check Code Style - Ruff
 
 on:
   push:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
   pull_request:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
   workflow_dispatch:
 
 jobs:

.github/workflows/super-linter.yml

@@ -8,9 +8,10 @@ name: Lint Code Base (Super-Linter)
 
 on:
   push:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
   pull_request:
-    branches: [main, humble]
+    branches: [main, humble, feature/*]
+
 jobs:
   run-lint:
     runs-on: ubuntu-latest

.gitignore

@@ -97,3 +97,4 @@ src/end_effectors/serial/
 src/end_effectors/robotiq_hande_driver/
 src/end_effectors/robotiq_hande_description/
 src/end_effectors/ros2_epick_gripper/
+src/end_effectors/pipettor/

build.sh

@@ -16,4 +16,5 @@ colcon build \
         --symlink-install \
         --executor sequential \
         --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \
-        -Wall -Wextra -Wpedantic
+        -Wall -Wextra -Wpedantic \
+        --packages-skip epick_moveit_studio epick_config

setup.sh

@@ -2,6 +2,7 @@
 set -e
 
 vcs import < src/ros2.repos src
+vcs import < src/end_effectors/end_effectors.repos src/end_effectors
 sudo apt-get update
 rosdep update
-rosdep install --from-paths src --ignore-src -y
+rosdep install --from-paths src --ignore-src -y --skip-keys moveit_studio_behavior_interface --skip-keys epick_moveit_studio

src/end_effectors/README.md

@@ -15,6 +15,7 @@ This pulls in:
 - `robotiq_hande_driver` - Robotiq HandE gripper driver
 - `robotiq_hande_description` - Robotiq HandE URDF models
 - `ros2_epick_gripper` - EPick vacuum gripper driver
+- `pipettor` - Custom pipettor developed at CMS NSLS-2
 
 **Note:** The `ros2_epick_gripper` repository includes `epick_moveit_studio` which depends on paywalled MoveIt Studio/MoveIt Pro packages. Since we don't use this package, skip it during build and dependency installation:
 

src/end_effectors/end_effectors.repos

@@ -14,4 +14,8 @@ repositories:
   ros2_epick_gripper:
     type: git
     url: https://github.com/PickNikRobotics/ros2_epick_gripper.git
+    version: main
+  pipettor:
+    type: git
+    url: https://github.com/sixym3/pipettor.git
     version: main